/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    stm32f4xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
#include "FreeRTOS.h"
#include "task.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Devices_Lidar.h"
#include "Devices_LED.h"
#include "Devices_Battary.h"
#include "Devices_Command.h"
#include "Devices_Receiver.h"

#include "cmsis_os.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */

/* USER CODE END TD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
 
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/
extern ADC_HandleTypeDef hadc1;
extern DMA_HandleTypeDef hdma_uart5_rx;
extern DMA_HandleTypeDef hdma_uart5_tx;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern DMA_HandleTypeDef hdma_usart3_tx;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim6;

/* USER CODE BEGIN EV */
extern osMessageQId LidarRxQueueHandle;
extern osMessageQId CommandRxQueueHandle;
extern osMessageQId ReceiverRxQueueHandle;
/* USER CODE END EV */

/******************************************************************************/
/*           Cortex-M4 Processor Interruption and Exception Handlers          */
/******************************************************************************/
/**
  * @brief This function handles Non maskable interrupt.
  */
void NMI_Handler(void)
{
  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */

  /* USER CODE END NonMaskableInt_IRQn 0 */
  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */

  /* USER CODE END NonMaskableInt_IRQn 1 */
}

/**
  * @brief This function handles Hard fault interrupt.
  */
void HardFault_Handler(void)
{
  /* USER CODE BEGIN HardFault_IRQn 0 */

  /* USER CODE END HardFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
		
    /* USER CODE END W1_HardFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Memory management fault.
  */
void MemManage_Handler(void)
{
  /* USER CODE BEGIN MemoryManagement_IRQn 0 */

  /* USER CODE END MemoryManagement_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
    /* USER CODE END W1_MemoryManagement_IRQn 0 */
  }
}

/**
  * @brief This function handles Pre-fetch fault, memory access fault.
  */
void BusFault_Handler(void)
{
  /* USER CODE BEGIN BusFault_IRQn 0 */

  /* USER CODE END BusFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
    /* USER CODE END W1_BusFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Undefined instruction or illegal state.
  */
void UsageFault_Handler(void)
{
  /* USER CODE BEGIN UsageFault_IRQn 0 */

  /* USER CODE END UsageFault_IRQn 0 */
  while (1)
  {
    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
    /* USER CODE END W1_UsageFault_IRQn 0 */
  }
}

/**
  * @brief This function handles Debug monitor.
  */
void DebugMon_Handler(void)
{
  /* USER CODE BEGIN DebugMonitor_IRQn 0 */

  /* USER CODE END DebugMonitor_IRQn 0 */
  /* USER CODE BEGIN DebugMonitor_IRQn 1 */

  /* USER CODE END DebugMonitor_IRQn 1 */
}

/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers                                    */
/* Add here the Interrupt Handlers for the used peripherals.                  */
/* For the available peripheral interrupt handler names,                      */
/* please refer to the startup file (startup_stm32f4xx.s).                    */
/******************************************************************************/

/**
  * @brief This function handles DMA1 stream0 global interrupt.
  */
void DMA1_Stream0_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream0_IRQn 0 */

  /* USER CODE END DMA1_Stream0_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_uart5_rx);
  /* USER CODE BEGIN DMA1_Stream0_IRQn 1 */

  /* USER CODE END DMA1_Stream0_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream1 global interrupt.
  */
void DMA1_Stream1_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */

  /* USER CODE END DMA1_Stream1_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart3_rx);
  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */

  /* USER CODE END DMA1_Stream1_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream3 global interrupt.
  */
void DMA1_Stream3_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */

  /* USER CODE END DMA1_Stream3_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart3_tx);
  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */

  /* USER CODE END DMA1_Stream3_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream5 global interrupt.
  */
void DMA1_Stream5_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */

  /* USER CODE END DMA1_Stream5_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart2_rx);
  /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */

  /* USER CODE END DMA1_Stream5_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream6 global interrupt.
  */
void DMA1_Stream6_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */

  /* USER CODE END DMA1_Stream6_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart2_tx);
  /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */

  /* USER CODE END DMA1_Stream6_IRQn 1 */
}

/**
  * @brief This function handles ADC1, ADC2 and ADC3 global interrupts.
  */
void ADC_IRQHandler(void)
{
  /* USER CODE BEGIN ADC_IRQn 0 */
	if(__HAL_ADC_GET_FLAG(&hadc1,ADC_FLAG_EOC) != RESET)
	{
		__HAL_ADC_DISABLE(&hadc1);
		HAL_ADC_Stop(&hadc1);
		#ifdef LIDAR_USE_CODE
		LID_BAT_Remain_Voltage = HAL_ADC_GetValue(&hadc1)*0.0169189f;
		#endif
		#ifdef RECEIVE_USE_CODE
		REC_BAT_Remain_Voltage = HAL_ADC_GetValue(&hadc1)*0.0169189f;
		#endif
		__HAL_ADC_ENABLE(&hadc1);
		HAL_ADC_Start(&hadc1);
		__HAL_ADC_CLEAR_FLAG(&hadc1,ADC_FLAG_EOC);
	}
	
  /* USER CODE END ADC_IRQn 0 */
  HAL_ADC_IRQHandler(&hadc1);
  /* USER CODE BEGIN ADC_IRQn 1 */

  /* USER CODE END ADC_IRQn 1 */
}

/**
  * @brief This function handles USART1 global interrupt.
  */
void USART1_IRQHandler(void)
{
  /* USER CODE BEGIN USART1_IRQn 0 */
	/* Queue Check */
	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
	
	if(__HAL_UART_GET_IT_SOURCE(&huart1,UART_IT_IDLE) \
		&&__HAL_UART_GET_FLAG(&huart1,UART_FLAG_IDLE))
	{
		__HAL_DMA_DISABLE(huart1.hdmarx);
		
		/* Mode Cir */
		//HAL_UART_Receive_DMA(&huart1,(uint8_t*)LID_AT_CommandReceive, \
		AT_CommandLength);
		//HAL_UART_Receive_DMA(&huart1,(uint8_t*)Receiver_LidarPusherReceive, \
		AT_CommandLength);
		
		
		#ifdef RECEIVE_USE_CODE
		/* Capture Lidar callback frame */
		Command_Functions.REC_ATCommand_CallbackCapture();
		#endif
		
		#ifdef LIDAR_USE_CODE
		/* portYIELD_FROM_ISR for immediately Task Switch after the IRQn */
		/* In Order to LET the Data PROCESS IN A LINE WITH NO LAG!! */
		xQueueSendFromISR(CommandRxQueueHandle,LID_AT_CommandReceive,&xHigherPriorityTaskWoken);
		portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
		#endif
		#ifdef RECEIVE_USE_CODE
		/* portYIELD_FROM_ISR for immediately Task Switch after the IRQn */
		/* In Order to LET the Data PROCESS IN A LINE WITH NO LAG!! */
		xQueueSendFromISR(ReceiverRxQueueHandle, \
											Receiver_LidarPusherReceive.Lidar_MsgReceive, \
											&xHigherPriorityTaskWoken);
		portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
		#endif
		
		
		__HAL_DMA_SET_COUNTER(huart1.hdmarx,AT_CommandLength);
		__HAL_DMA_ENABLE(huart1.hdmarx);
		__HAL_UART_CLEAR_IDLEFLAG(&huart1);
	}
	__HAL_UART_CLEAR_IDLEFLAG(&huart1);
  /* USER CODE END USART1_IRQn 0 */
  HAL_UART_IRQHandler(&huart1);
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}

/**
  * @brief This function handles USART2 global interrupt.
  */
void USART2_IRQHandler(void)
{
  /* USER CODE BEGIN USART2_IRQn 0 */
	/* Queue Check */
	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
		
	if(__HAL_UART_GET_IT_SOURCE(&huart2,UART_IT_IDLE) \
		&&__HAL_UART_GET_FLAG(&huart2,UART_FLAG_IDLE))
	{
		__HAL_DMA_DISABLE(huart2.hdmarx);
		
		/* Mode Cir */
		//HAL_UART_Receive_DMA(&huart2,Lidar_Buffer, \
		Lidar_BufferLength);
		
		#ifdef LIDAR_USE_CODE
		/* portYIELD_FROM_ISR for immediately Task Switch after the IRQn */
		/* In Order to LET the Data PROCESS IN A LINE WITH NO LAG!! */
		xQueueSendFromISR(LidarRxQueueHandle,Lidar_Buffer,&xHigherPriorityTaskWoken);
		portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
		#endif
		#ifdef RECEIVE_USE_CODE
		//None..
		#endif

		__HAL_DMA_SET_COUNTER(huart2.hdmarx,Lidar_BufferLength);
		__HAL_DMA_ENABLE(huart2.hdmarx);
		__HAL_UART_CLEAR_IDLEFLAG(&huart2);
	}
		
	/* Protect the IRQn */
	__HAL_UART_CLEAR_IDLEFLAG(&huart2);
  /* USER CODE END USART2_IRQn 0 */
  HAL_UART_IRQHandler(&huart2);
  /* USER CODE BEGIN USART2_IRQn 1 */

  /* USER CODE END USART2_IRQn 1 */
}

/**
  * @brief This function handles USART3 global interrupt.
  */
void USART3_IRQHandler(void)
{
  /* USER CODE BEGIN USART3_IRQn 0 */
	/* Queue Check */
	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
	
	if(__HAL_UART_GET_IT_SOURCE(&huart3,UART_IT_IDLE) \
		&&__HAL_UART_GET_FLAG(&huart3,UART_FLAG_IDLE))
	{
		__HAL_DMA_DISABLE(huart3.hdmarx);
		
		/* Mode Cir */
		//HAL_UART_Receive_DMA(&huart3,Lidar_Buffer, \
		Lidar_BufferLength);
		
		#ifdef LIDAR_USE_CODE
		/* portYIELD_FROM_ISR for immediately Task Switch after the IRQn */
		/* In Order to LET the Data PROCESS IN A LINE WITH NO LAG!! */
		xQueueSendFromISR(LidarRxQueueHandle,Lidar_Buffer,&xHigherPriorityTaskWoken);
		portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
		#endif
		#ifdef RECEIVE_USE_CODE
		//None..
		#endif

		__HAL_DMA_SET_COUNTER(huart3.hdmarx,Lidar_BufferLength);
		__HAL_DMA_ENABLE(huart3.hdmarx);
		__HAL_UART_CLEAR_IDLEFLAG(&huart3);
	}
	
	/* Protect the IRQn */
	__HAL_UART_CLEAR_IDLEFLAG(&huart3);
	
  /* USER CODE END USART3_IRQn 0 */
  HAL_UART_IRQHandler(&huart3);
  /* USER CODE BEGIN USART3_IRQn 1 */

  /* USER CODE END USART3_IRQn 1 */
}

/**
  * @brief This function handles DMA1 stream7 global interrupt.
  */
void DMA1_Stream7_IRQHandler(void)
{
  /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */

  /* USER CODE END DMA1_Stream7_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_uart5_tx);
  /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */

  /* USER CODE END DMA1_Stream7_IRQn 1 */
}

/**
  * @brief This function handles UART5 global interrupt.
  */
void UART5_IRQHandler(void)
{
  /* USER CODE BEGIN UART5_IRQn 0 */
	/* Queue Check */
	#ifdef RECEIVE_USE_CODE
	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
	#endif
	if(__HAL_UART_GET_IT_SOURCE(&huart5,UART_IT_IDLE) \
		&&__HAL_UART_GET_FLAG(&huart5,UART_FLAG_IDLE))
	{
		__HAL_DMA_DISABLE(huart5.hdmarx);
		
		/* Mode Cir */
		//..
		
		#ifdef LIDAR_USE_CODE
		//None..
		#endif
		#ifdef RECEIVE_USE_CODE
		/* portYIELD_FROM_ISR for immediately Task Switch after the IRQn */
		/* In Order to LET the Data PROCESS IN A LINE WITH NO LAG!! */
		xQueueSendFromISR(CommandRxQueueHandle,REC_AT_CommandReceive,&xHigherPriorityTaskWoken);
		portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
		#endif

		__HAL_DMA_SET_COUNTER(huart5.hdmarx,Lidar_BufferLength);
		__HAL_DMA_ENABLE(huart5.hdmarx);
		__HAL_UART_CLEAR_IDLEFLAG(&huart5);
	}
  /* USER CODE END UART5_IRQn 0 */
  HAL_UART_IRQHandler(&huart5);
  /* USER CODE BEGIN UART5_IRQn 1 */

  /* USER CODE END UART5_IRQn 1 */
}

/**
  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
  */
void TIM6_DAC_IRQHandler(void)
{
  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */

  /* USER CODE END TIM6_DAC_IRQn 0 */
  HAL_TIM_IRQHandler(&htim6);
  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */

  /* USER CODE END TIM6_DAC_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream2 global interrupt.
  */
void DMA2_Stream2_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */

  /* USER CODE END DMA2_Stream2_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart1_rx);
  /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */

  /* USER CODE END DMA2_Stream2_IRQn 1 */
}

/**
  * @brief This function handles DMA2 stream7 global interrupt.
  */
void DMA2_Stream7_IRQHandler(void)
{
  /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */

  /* USER CODE END DMA2_Stream7_IRQn 0 */
  HAL_DMA_IRQHandler(&hdma_usart1_tx);
  /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */

  /* USER CODE END DMA2_Stream7_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
